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IMU preintegration exaplained

[SLAM][En] Notes on Formula Derivation and Analysis of the VINS-mono This post is the study note on Yibin Wu's "Formula Derivation and Analysis of the VINS-mono" paper. If you see something wrong or needs to be corrected, please comment, and I will check it later. 1. Introduction Visualizing the camera and IMU coordinate system is as follows. Both sensors are fixed on a single board, and calibrating the board yields the extrinsic parameter $\mathbf{T}^{b}_{C}$, w.. 더보기

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